Capstone/PID MIP/PIDControlMIP.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "import math\n",
    "import scipy.integrate as inte\n",
    "from numpy import matmul as mm\n",
    "def circle(x,y,r):\n",
    "    ang = np.arange(0,2*np.pi,0.01)\n",
    "    xp = r*np.cos(ang)\n",
    "    yp = r*np.sin(ang)\n",
    "    plt.plot(x+xp,y+yp,color='k',linewidth=2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "class latent():\n",
    "    def __init__(self):\n",
    "        self.newstate = 0\n",
    "        self.t_last = 0\n",
    "    def __call__(self,t,phi):\n",
    "        dt = self.t_last-t\n",
    "        self.newstate = self.newstate+dt*phi\n",
    "        self.t_last = t\n",
    "        return self.newstate\n",
    "def controller(params,t,phi,dphi,inter):\n",
    "    newstate = inter(t,phi)\n",
    "    kp,kd,ki = 53,2.9,-2000\n",
    "    u = kp*phi + kd*dphi + ki*newstate    \n",
    "    return u\n",
    "def eom(params,th,phi,dth,dphi,u):\n",
    "    A = params['mr']*params['r']*params['d']*np.cos(phi)\n",
    "    B = params['ir']+params['mr']*(params['d']**2)\n",
    "    C = params['mr']*params['g']*params['d']\n",
    "    D = params['mr']*(params['r']**2)\n",
    "    E = params['r']*params['mr']*params['d']*np.cos(phi) \n",
    "    F = params['mr']*params['r']*params['d']\n",
    "    tau = u\n",
    "    tmp1 = A*F*np.sin(phi)*dphi**2-C*D*np.sin(phi)+(A+D)*tau\n",
    "    tmp2 = A*E-B*D; phidd = tmp1/tmp2\n",
    "    thdd = -((A+B)*phidd-C*np.sin(phi)+tau)/A\n",
    "    qdd = np.array([thdd,phidd])\n",
    "    return qdd\n",
    "def dynamics(params,t,X,inter):\n",
    "    Xd = np.zeros(X.shape);\n",
    "    th,phi,dth,dphi = X[0],X[1],X[2],X[3]\n",
    "    u = controller(params,t,phi,dphi,inter)\n",
    "    Xd[:2] = X[2:]\n",
    "    Xd[2:] = eom(params,th,phi,dth,dphi,u)\n",
    "    return Xd\n",
    "def robotSim():\n",
    "    params = {}; params['g'] = 9.81\n",
    "    params['mr'] = .25; params['ir'] = .0001\n",
    "    params['d'] = .1; params['r'] = .02\n",
    "    params['ubias'] = -1\n",
    "    t0,t1 = 0,2; y0 = np.array([0,.1,0,0])\n",
    "    t = np.linspace(t0,t1,400)\n",
    "    y = np.zeros((len(t),len(y0))); y[0,:] = y0\n",
    "    inter = latent()\n",
    "    r = inte.ode(lambda t,y:dynamics(params,t,y,inter)).set_integrator(\"dopri5\",max_step=.001) \n",
    "    r.set_initial_value(y0, t0)   # initial values\n",
    "    for i in range(1, t.size):\n",
    "        y[i, :] = r.integrate(t[i]) # get one more value, add it to the array\n",
    "        if not r.successful():\n",
    "           raise RuntimeError(\"Could not integrate\")\n",
    "    return t,y"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<matplotlib.lines.Line2D at 0x22a23111548>]"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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sPtiif31quR6b36DenavUv1uNopGQvv/yOv341fW6/aLh+rvpY1UTDRc6VAAAAAAAUMZIDhVA4/4mzfzWK2rc36x7pp2lv75qjDpVJZNA67Yf0LdeWqMf/Oltrdi6Xw/eXndkHwAAAAAAQLbldEBqHK81ntC9P39Tuw+1avY9l+gfZow7Jvkzqm8X/dctk/UfH5qkP63ZoY/96M862BwrYMQAAAAAAKCckRzKs3/53XL9ef0u/ftNkzR5aI8Oy91cN1TfuHWy/vz2Lt3z8wVKJDyPUQIAAAAAgEpBciiPnlq8RT96db0+ftlIXX/eoJOWv2HyYN1/w0S9vGq7Hnrl7TxECAAAAAAAKg3JoTxpjSf01adXaMLAbrrvunEZH/eRC4fp2nP669+fWaElm/bmMEIAAAAAAFCJSA7lyWP1Ddq465C+cO1YRcKZv+1mpq9+cJJ6da7SZx95U4db4jmMEgAAAAAAVBqSQ3nQ1BrX/7y4WucP66FpY/ue8vE9O1fpv26ZrLXbD+q7f1ibgwgBAAAAAEClIjmUBw//eaO27G3S56ePlZmd1jkuHd1H7580UA++vFab9xzOcoQAAAAAAKBSkRzKsXjC9e2X1uriUb11yeg+Z3Su+64bp4RL//HMiixFBwAAAAAAKh3JoRw72BLTjgPNumpcvzM+15CetfrE5SP1xMLNWvjOnixEBwAAAAAAKh3JoRxrak0OIF0Tzc5bfc+00erbtVr/8rtlcvesnBMAAAAAAFQukkM51tyakCRVR8NZOV+X6og+c9VozVu/W6+v25WVcwIAAAAAgMpFcijHjrYcyk5ySJJuqRuqvl2r9a2XVmftnAAAAAAAoDKRHMqxpqDlUE0ke291TTSsT14xSq+s2an5G3Zn7bwAAAAAAKDykBzKsaZY9lsOSdKHLxymnrVRffulNVk9LwAAAAAAqCwkh3IsF93KJKm2KqKPXz5KL65o1JJNe7N6bgAAAAAAUDlIDuXYkW5lWZqtLNXtFw9X56qwHvrT21k/NwAAAAAAqAwkh3IsVy2HJKlbTVQ31w3Vk4s2q3FfU9bPDwAAAAAAyh/JoRw7khyKZD85JEl3XDJCsYTrZ29szMn5AQAAAABAectacsjMHjKzRjNbkrKtl5k9Z2arg9ee2bpeqWiK5a5bmSSN7NNZV43tp1+8sUHNweDXAAAAAAAAmcpmxuJHkmakbbtP0gvuPkbSC8F6RWkOWg5V56BbWZuPXTpSOw606Mm3tuTsGgAAAAAAoDxlLTnk7i9L2pW2+QZJPw6WfyxpZrauVyqOjjmUux58l47urbP7d9H/vvK23D1n1wEAAAAAAOUn12MO9Xf3LZIUvPbL8fWKTlNrQmZSVTh3b7WZ6faLR2jp5n16q4Fp7QEAAAAAQOaKYkBqM7vbzOrNrH779u2FDiermlrjqomEZWY5vc7MyYNUWxXWL97YkNPrAAAAAACA8pLr5NA2MxsoScFrY3uF3P1Bd69z97q+ffvmOKT8aorFc9qlrE3XmqiuP2+Qnnxri/Y1teb8egAAAAAAoDzkOmsxR9IdwfIdkn6T4+sVnabWhGpyOBh1qg9fOEyHW+N64s1NebkeAAAAAAAofdmcyv5hSa9JGmtmDWZ2l6SvSrrGzFZLuiZYryhNrfG8JYcmDemhiYO76RdvbGRgagAAAAAAkJFItk7k7rd1sOs92bpGKWpqTag6kr+hnT58wXD94+OLtWDjHk0d3jNv1wUAAAAAAKWpKAakLmfNsfy1HJKkGyYPUueqsH45b2PergkAAAAAAEoXyaEcS3Yry9/b3Lk6oveeO1C/W7RFh1piebsuAAAAAAD/f3t3HidXWed7/Purrff0ko2kOyE7hARCSJMQw6ZRcIOABgEdFBWjXmBc7viaGa9Xvd7rjMsMXndFx5HRYVEQYTSAURRUSKADISEEQtJk37vTnXR6q+WZP05Vp7rpQGWpOrV83q9Xv6rqLHV+VU+drs43z/McFCbCoSzL5YTUKdc0T9CR/rgeWrcnp8cFAAAAAACFh3Aoy3qjcZWHchsOnT+pXqePrNQvV2/P6XEBAAAAAEDhIRzKst5YboeVSZKZael5TVrZ2q7t7d05PTYAAAAAACgshENZ5sewMkl697wmmUn3rt6R82MDAAAAAIDCQTiUZd6E1LkPh8bXVejCaaN07+odSiRczo8PAAAAAAAKA+FQlvVFEyrL8bCylKXzmrSzo0crX2nz5fgAAAAAACD/EQ5lUTzh1B9P5HxC6pTLZ52mmvKQ7m1haBkAAAAAABge4VAW9cXikuTLsLLUca+YM17Ln9+tw71RX2oAAAAAAAD5jXAoi3qjCUnK+dXK0i2d16TeaELL1+32rQYAAAAAAJC/CIeyqDfqb88hSZo7oU5TR1fplwwtAwAAAAAAwyAcyqKj4ZB/b7OZ6ZrmCWrZelCt+7t8qwMAAAAAAOQnwqEsGhhW5tOE1ClXz21UwKR7V9N7CAAAAAAADEY4lEW9Pk9InTJ2RLkumTFa9z+7U/GE87UWAAAAAACQXwiHsig1rKzMx2FlKUvnTdDuzl49sfmA36UAAAAAAIA84n9qUcT6Bq5W5m/PIUlaPHOMaivCTEwNAAAAAAAGIRzKooEJqX2ec0jyAqol547XI+v3qLMn6nc5AAAAAAAgTxAOZdHROYfy421eOq9JfbGEfrt2t9+lAAAAAACAPJEfqUWR6s2jYWWSdHZjrWaMrda9q7f7XQoAAAAAAMgTOQmHzGyLma0zszVm1pKLY+aDgWFleRIOmZmWzmvSM9s6tHl/l9/lAAAAAACAPJDLnkNvdM6d65xrzuExfXW051D+dNC66txGBQOm+1YzMTUAAAAAAGBYWVbl04TUKWNGlOuSGaP1q2d2Kp5wfpcDAAAAAAB8lqtwyEn6nZmtNrNlOTqm73pjcUWCAQUC5ncpgyyd16Q9h3r1l00H/C4FAAAAAAD4LFfh0CLn3HmS3ibpZjO7OH2lmS0zsxYza9m/f3+OSsq+vmhCZXk0pCxl8cwxqqsM616GlgEAAAAAUPJyklw453Ylb/dJul/S/CHrb3fONTvnmkePHp2LknKiNxrPm8mo05WFgloyZ7weWb9HnT1Rv8sBAAAAAAA+yno4ZGZVZlaTui/pMknPZ/u4+cALh/Kv55AkLZ03Qf2xhH6zdpffpQAAAAAAAB/lIrkYK+kvZvacpKck/dY593AOjuu73mgiryajTje7cYTOGFvD0DIAAAAAAEpcKNsHcM61SpqT7ePko95Yfg4rkyQz09J5Tfry8g3atK9L08ZU+10SAAAAAADwQX6OeSoS+TysTJKWzB2vYMB03zP0HgIAAAAAoFTlb3JRBHqjibztOSRJY2rKdemM0frVMzsUTzi/ywEAAAAAAD4gHMqifL1aWbql85q091Cf/vzyfr9LAQAAAAAAPiAcyqK+WH73HJKkN80co7rKMBNTAwAAAABQogiHsqg3Gld5KL/f4rJQUFed26jfvbBXnd1Rv8sBAAAAAAA5lt/JRYErhGFlknRNc5P6Ywnd/yy9hwAAAAAAKDWEQ1nkTUid/2/xrPG1mtNUqzuf2ibnmJgaAAAAAIBSkv/JRYFyzqk3Vhg9hyTp+vkTtXFvl57ZdtDvUgAAAAAAQA4RDmVJfzwh51Qw4dAVc8aruiykO1dt97sUAAAAAACQQ4RDWdIbTUiSyvJ8QuqUqrKQlpw7Xr9Zu4uJqQEAAAAAKCGFkVwUoL5oXFLh9BySvKFlfUxMDQAAAABASSEcypJUz6FCCodmN3oTU/98FRNTAwAAAABQKgiHsqQ3luo5VFhv8Q0LJ2nTvi49ubnN71IAAAAAAEAOFFZyUUB6U8PKQoXTc0iS3nnOONVXhnXHk1v8LgUAAAAAAOQA4VCWFOKwMsmr97r5E7Xihb3a2dHjdzkAAApW2k4AABaBSURBVAAAACDLQn4XUKwGeg4V2LAySXrfgon64WOb9fOVW/X3bz3T73KKRjSe0CsHjmjD7kPa1tatXZ092t3Zq8O9MXX1xtQf9wJFk1RZFlRVJKSGqojG11VofF2FGpM/E0dWqrYi7O+LAQAAAAAUDcKhLOktwKuVpTTVV+otZ43V3U9t0ycWTy/I15AP4gmnli3t+uumA1r5SrvWbO9QfywxsH5UdZnG1ZartiKs0dVlioS8IDHhnHr64zrcF9PL+7r0p5f2qyf5eUpprKvQWeNH6KxxI3TW+BGa3VirxrqKnL4+AAAAAEBxIBzKkt5YalhZ4fUckqQPLJykR9bv1QNrdura8yf6XU7BSCScVr7Spgee3aUVG/aq/Ui/Aiad3Vir919wumY31urMcTWaNLIq49DNOaeO7qh2dvRoZ0ePWvd7vY/W7+rU7zfsVerCcuNry9U8qUHnT6pX86QGzRhbo2DAsvhqAQAAAADFgHAoS1I9h8oKbELqlIVTR+qscSP0oz+/omvmTVCAkOE1dXZHdedT23T309u0ta1b1WUhvenMMbp81mm6aMYojSg/8WFgZqb6qojqqyKa3Vg7aF13f0wv7Tms57Z3qGXrQa16pU0PPrdLklRTHtKCyQ26YMpIXTBlpGaOG0FYBAAAAAB4FcKhLOkr4GFlkhdILLt4ij55zxr98aV9WjxzrN8l5aU9nb26/fFW3f30NnX3x7VgcoM++ebpetvscTlp+8pISHMn1mvuxHrduGiynHPacbBHLVvb9dQr7VrZ2q7fb9gnSaqtCGt+MixaOGWkzjythtAPAAAAAJCbcMjM3irpm5KCkn7snPtKLo7rp6NXKyvMYWWS9I5zxulrD7+o2x9vJRwa4uCRfn3/sc366RNblEg4XTFnvJZdPEUzx43wtS4z04SGSk1oqNTVc5skSbs7e7SqtV1Pbm7TylfatOKFvZKkusrwQM+ihVNHasYYwiIAAAAAKEVZD4fMLCjpu5LeImmHpKfN7EHn3AvZPrafCnlC6pRwMKAPXThZ/++3G/Tc9g7NmVDnd0m+i8UT+tnKrbptxUZ19cV09dxGferNMzShodLv0o5pXG2FrprbqKvmNkqSdnb0aFVr20BY9Mh6LyxqqIoMGoY2Y2y1zAiLAAAAAKDY5aLn0HxJm5xzrZJkZndLWiKpuMOhWFzBgCkcLNyeQ5J03fyJ+uYfXtbtj7fqu+87z+9yfPX0lnZ97v7n9dLew7po+ij973eepRlja/wu67g11lXoXec16V3neT2Ltrd3a2Vrm1a2tmtla5seen6PJGlkVUQLpjRo/qQGnTOhTmeNG1HQYeeplEg49UTjOtIf05G+uI70xdTd7z3u7kvdxtQbSygWTygad4rGE4olkrfJx9G4UyyRUDzhzSpuZjJJqUzO0pal1oeDplDQFAoEFAkFFAqYQsGAwqnboPd7JxQ0hQPebSgYUCS5TzjkbRsOBbztAjbwPOHg0ef0tvOeLxgwgkIAAACgiOUiHGqUtD3t8Q5JC3JwXF/1RhMqDxV2MCRJ1WUh3XDB6fr+Y5v18t7Dml6AYcjJOtIX09ceflF3PLlVjXUV+uEN83TZWWOL5h/LqWFo1zRPGJiz6MnNbVrZ2qYnW9u0fJ0XFgUDphlja3ROY61mN47Q9LE1mj6mWiOry3x+BSenpz+ug9393s+R6PD3u6M6eMS739EdVVdf7LiP44U4XmATTgtjwkHzhvM5ycm7Op2Uui85JR877yc9ZEoFTbFkuJRNkWStXgB1NIQ6epsMopJBkkkKmCkQkEwmMy/cCpi3PBV8BcwLwwJmCphJyfvOJV+5kxLOyaVuB94LN/B+JdLeu9R75tL2S183/HN4+yQSr/E86bUM2UeD6kjt4+0w9JiJZEFumH3SHQ0IbdBjb1lqGxv0OP3Bq7bJcP+j273WfoNrG7zs5JzMJ3noe5j5MU/8qCd6TADFrUj+RASQ5uOXTNWNiyb7XUZW5SIcGu7X46A/p8xsmaRlkjRxYnFcNr2uIqxpRRKk3HTRFP30iS369qOb9K3r5/pdTk6t3tquT9y9Rjs7evTBRZP0mcvPUGWkeOdxT5+z6D3ne2HR7s5erd3RqXU7O7R2R6ceeWGP7mk5mvc2VEU0bUy1po6uVlN9hZrqKzS+rkKNdRUaO6I8Z1dIi8UTOtQbU0d3vzp6oursjqqjxwtzvGBn+OAnNT/YcGrKQt6V4irDA6+zrjKsmvKwqiJBVZaFVBUJqqospKpISJVlQe82uawsdDRIyWaY6JwXEMXiTtFEQtHY4F5KsURC/THvNhofHCz1p/Vk6h/UqynZsyl5vz/tfjThFI0Nvp9+PCcv9IgnnKJxNxCOJNyQkGZQgOPtk3ps0kBQlAqaUm9h6r6lrVcqaFJa6KRU2CSZBV4VVKV6aQ1+/qOBlelouJVeS/o+Sm03ZB8lj5OqI1WrlLZdap+B15Bq0EE3A4Ghd3/ourTPQVqQOPTzcXSboc+T2XNryHO/1nFd2ks5ESdzqtgJHvmkjsk/AgGkITQGitPpI6v8LiHrzGX5N5iZLZT0Refc5cnH/yhJzrl/Hm775uZm19LSktWacPz++aENuv3xVq341CWaNqba73KyLp5w+sFjm3Xbio1qrKvQbe+Zo+ZJDX6XlRdSgdGmfV16eV+XNu07rJf3dqn1wBG1H+kftG3ApPrKyEDAUl8ZUV1lWJWRkMrCAZWHgioPB1UWCmhohuQk9cUS6o3G1RONq7c/rt5owrsfjau7Pz4Q/nT2RHW499i9ecy8q7U1JI8/qKaqiPc4bXldZVh1FRFFiqD3HwAAAABIkpmtds41D7suB+FQSNJGSYsl7ZT0tKT3OufWD7c94VB+auvq04Vf/aMunzVW//+64u49tO9wrz51zxr9dVObrpgzXv909WzVlIf9LqsgdPfHtKujRzsO9mhnR4/2dPaq/cjg3jod3VH1JAOf/tixe+2ki4QCqggHVREOqjwcUHk4qMpIUHWVEdVVhFWbDHNqK0Kqq4wkH4e9+xVh1VaEc9aDCQAAAADy0WuFQ1kfH+Oci5nZLZIekXcp+58cKxhC/hpZXaYbFp6uH/+5Vbcunq6po4uz99BjG/frf/5ijbr6Yvrqu8/We5onFM3cQrlQGQlp2pgaTRuT2ZDKRMIN9A4aTqp3UYBgBwAAAACyJieTpzjnlktanotjIXuWXTxF/7lyq77+8Ev6wQ3z/C7nlHLO6duPbtJtKzbqjLE1uusjF5Tk5Nu5FgiYKiJBVUS4ChoAAAAA+IUJNZCxUdVl+uglU/Xw+j1q2dLudzmnTE9/XLfe9axuW7FRV89t1AO3LCIYAgAAAACUDMIhHJebLpqsMTVl+vLyDcr2fFW5sLuzR+/54ZP67brd+oe3nanb3jNH5WF6sQAAAAAASgfhEI5LZSSkv7vsDD27rUPL1+3xu5yT8uy2g7ryO39V6/4u/fj9zfrYJVOZXwgAAAAAUHIIh3Dc3j2vSWeeVqOvPLxBPf3DTySc7+5/doeuvX2lKsJB3X/zIi2eOdbvkgAAAAAA8AXhEI5bMGD6whWztL29R9969GW/yzkuiYTTVx56UZ+65zmdN7FOv755kWYwvxAAAAAAoIQRDuGELJw6UtfMa9KPHm/Vi3sO+V1ORrr6Ylr2sxb94LHNeu+CifrZhxeooSrid1kAAAAAAPiKcAgn7LNvn6kRFWF99lfrlEjk9+TU29q69a7v/VV/fGm/vrRklr581WyFg3z8AQAAAADgX8c4YfVVEX3uHTP1zLYO/fSJLX6Xc0wrW9u05Lt/0d5DffqPD83X+xdOYuJpAAAAAACSCIdwUq6e26g3zxyjrzz0otbv6vS7nFe5c9U2/c2PV6mhKqJf37xIi6aN8rskAAAAAADyCuEQToqZ6WtL56i+Kqxb73pW3f0xv0uSJPXHEvrCA8/rs/ev06Jpo3T/zYs0eVSV32UBAAAAAJB3CIdw0hqqIvrGtefqlQNH9PkH1ss5f+cf2tPZq+t/tFJ3PLlVN104WT+58XyNKA/7WhMAAAAAAPkq5HcBKA5vmDpKt75pur71h5c1Y2y1ll081Zc6nth8QH9717Pq7o/r29fP1RVzxvtSBwAAAAAAhYJwCKfMJxdPV+v+Lv3T8hc1vq5C7zwnd8GMc04/eKxVX3/kRU0eVaW7PnKBpo+tydnxAQAAAAAoVIRDOGUCAdO/XDNHew/16tP3PKeGqojeMDX7E0C3H+nX39+3Vite2Kt3nD1OX116jqrL+GgDAAAAAJAJ5hzCKVUeDur2G5p1+shKffDfn9aKF/Zm9Xh/2LBXl33jcf3ppX363Dtm6jvvnUswBAAAAADAcSAcwilXXxXRLz66UGeOG6GP/Xy1ftmy/ZQfY//hPn36F2v04TtaNKo6ogduvlA3XTRFZnbKjwUAAAAAQDGjiwWyor4qojtvWqCP/Xy1PnPvWj29pV2fv2LWSffq6Y8ldOeqrfrXFRvVG43rljdO062Lp6ksFDxFlQMAAAAAUFoIh5A1VWUh/dsHztc3/7BR3//TZq1sbdeXlszSJTNGH3cPn/5YQvc9s0PfeXSTdnb06MJpo/R/lszS1NHVWaoeAAAAAIDSYM45v2sYpLm52bW0tPhdBk6xli3t+vQvntO29m7NaarVxy+dpkvPGK3y8LF7/Djn9OKew7pv9Q79es1OHejq15wJdfrkm6fr0hMImAAAAAAAKFVmtto51zzsOsIh5Eqq98/3/rRJ29t7VB4O6IIpI3V2Y61G15SptiKsQ70xtXf168U9h/T0loM60NWncNC0+Myxun7BRF08fRShEAAAAAAAx+m1wqGsDiszsy9K+oik/clFn3XOLc/mMZG/IqGArp8/UdfMa9KfNx3QYy/t1+MbvZ/EkIyysa5CF00fpfmTG3T5rNPUUBXxp2gAAAAAAIpcLuYc+oZz7l9ycBwUiFAwoDeeMUZvPGOMJCmecGo/0q/Onn6NqAirvjKicJAL6QEAAAAAkAtMSA3fBQOm0TVlGl1T5ncpAAAAAACUnFx0z7jFzNaa2U/MrD4HxwMAAAAAAECGTjocMrPfm9nzw/wskfR9SVMlnStpt6R/PcZzLDOzFjNr2b9//3CbAAAAAAAAIAtydrUyM5sk6TfOudmvtR1XKwMAAAAAADi1/Lxa2Tjn3O7kw6slPf96+6xevfqAmW3NZl05NErSAb+LgC9o+9JF25cu2r400e6li7YvXbR96aLtS1extP3px1qR1Z5DZvYzeUPKnKQtkj6aFhYVPTNrOVYqh+JG25cu2r500faliXYvXbR96aLtSxdtX7pKoe2z2nPIOXdDNp8fAAAAAAAAJycXVysDAAAAAABAniIcyq7b/S4AvqHtSxdtX7po+9JEu5cu2r500fali7YvXUXf9jm7WhkAAAAAAADyDz2HAAAAAAAAShjh0Akys7ea2UtmtsnM/mGY9WVmdk9y/Sozm5S27h+Ty18ys8tzWTdOTgbt/mkze8HM1prZH8zs9LR1cTNbk/x5MLeV42Rl0PY3mtn+tDa+KW3dB8zs5eTPB3JbOU5WBm3/jbR232hmHWnrOO8LmJn9xMz2mdnzx1hvZvat5GdjrZmdl7aO875AZdDu70u291oze8LM5qSt22Jm65LnfEvuqsapkEHbX2pmnWm/1z+ftu41vyuQ3zJo+8+ktfvzye/3huQ6zvsCZWYTzOyPZrbBzNab2SeG2aZkvusZVnYCzCwoaaOkt0jaIelpSdc7515I2+Z/SDrHOfcxM7tO0tXOuWvN7CxJd0maL2m8pN9LmuGci+f6deD4ZNjub5S0yjnXbWYfl3Spc+7a5Lou51y1D6XjJGXY9jdKanbO3TJk3wZJLZKaJTlJqyXNc84dzE31OBmZtP2Q7W+VNNc596HkY877AmZmF0vqkvQfzrnZw6x/u6RbJb1d0gJJ33TOLeC8L2wZtPsbJG1wzh00s7dJ+qJzbkFy3RZ53wUHclkzTo0M2v5SSX/nnHvnkOXH9V2B/PN6bT9k2yskfco596bk4y3ivC9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      "text/plain": [
       "<Figure size 1440x720 with 4 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "t,y = robotSim()\n",
    "plt.figure(figsize=(20,10))\n",
    "plt.subplot(4,1,1)\n",
    "plt.plot(t,y[:,1])\n",
    "plt.plot([t.min(),t.max()],[0,0],'k--')\n",
    "\n",
    "plt.subplot(4,1,2)\n",
    "plt.plot(t,y[:,3])\n",
    "plt.plot([t.min(),t.max()],[0,0],'k--')\n",
    "\n",
    "plt.subplot(4,1,3)\n",
    "plt.plot(t,y[:,0])\n",
    "\n",
    "plt.subplot(4,1,4)\n",
    "plt.plot(t,y[:,2])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1080x360 with 6 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig = plt.figure(figsize=(15,5))\n",
    "plt.ylim([-.3,.3]); plt.xlim([-2,2])\n",
    "j=0\n",
    "for i in np.array([0,20,40,60,80,100]):\n",
    "    ax = plt.subplot(3,2,j+1)\n",
    "    th,phi,dth,dphi = y[i,0],y[i,1],y[i,2],y[i,3]\n",
    "    x = th*.02\n",
    "    plt.ylim([-.3,.3]); plt.xlim([-2,2])\n",
    "    plt.gca().set_aspect('equal', adjustable='box')\n",
    "    ax.plot(np.array([x,x+.1*2*np.sin(phi)]),\n",
    "            np.array([0,2*.1*np.cos(phi)]),\n",
    "            color=.5*np.array([1,1,1]),linewidth=12)\n",
    "    circle(x,0,.02)\n",
    "    ax.plot(np.array([-2,2]),\n",
    "           np.array([-.02,-.02]),\n",
    "           color=.3*np.array([1,1,1]))  \n",
    "    j+=1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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\" width=\"720\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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\" width=\"720\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "%matplotlib inline\n",
    "%load_ext autoreload\n",
    "%autoreload 2\n",
    "%matplotlib notebook\n",
    "\n",
    "fig = plt.figure(figsize=(10,10))\n",
    "plt.ylim([-.3,.3]); plt.xlim([-2,2])\n",
    "ax = plt.gca()\n",
    "plt.ion()\n",
    "fig.show()\n",
    "fig.canvas.draw()\n",
    "\n",
    "for i in range(len(t)):\n",
    "    th,phi,dth,dphi = y[i,0],y[i,1],y[i,2],y[i,3]\n",
    "    x = th*.02\n",
    "    ax.clear()\n",
    "    plt.ylim([-.3,.3]); plt.xlim([-2,2])\n",
    "    plt.gca().set_aspect('equal', adjustable='box')\n",
    "    ax.plot(np.array([x,x+.1*2*np.sin(phi)]),\n",
    "            np.array([0,2*.1*np.cos(phi)]),\n",
    "            color=.5*np.array([1,1,1]),linewidth=12)\n",
    "    circle(x,0,.02)\n",
    "    ax.plot(np.array([-2,2]),\n",
    "           np.array([-.02,-.02]),\n",
    "           color=.3*np.array([1,1,1]))\n",
    "    \n",
    "    fig.canvas.draw()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.7.4"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}